diff options
Diffstat (limited to 'scripts/motan/readlog.py')
| -rw-r--r-- | scripts/motan/readlog.py | 100 |
1 files changed, 63 insertions, 37 deletions
diff --git a/scripts/motan/readlog.py b/scripts/motan/readlog.py index 7cd2fbd5..e47e9e7f 100644 --- a/scripts/motan/readlog.py +++ b/scripts/motan/readlog.py @@ -18,20 +18,21 @@ LogHandlers = {} # Extract requested position, velocity, and accel from a trapq log class HandleTrapQ: - ParametersSubscriptionId = 2 - ParametersMin = ParametersMax = 3 + SubscriptionIdParts = 2 + ParametersMin = ParametersMax = 2 DataSets = [ - ('trapq:<name>:velocity', 'Requested velocity for the given trapq'), - ('trapq:<name>:<axis>', 'Requested axis (x, y, or z) position'), - ('trapq:<name>:<axis>_velocity', 'Requested axis velocity'), - ('trapq:<name>:<axis>_accel', 'Requested axis acceleration'), + ('trapq(<name>,velocity)', 'Requested velocity for the given trapq'), + ('trapq(<name>,accel)', 'Requested acceleration for the given trapq'), + ('trapq(<name>,<axis>)', 'Requested axis (x, y, or z) position'), + ('trapq(<name>,<axis>_velocity)', 'Requested axis velocity'), + ('trapq(<name>,<axis>_accel)', 'Requested axis acceleration'), ] - def __init__(self, lmanager, name): + def __init__(self, lmanager, name, name_parts): self.name = name self.jdispatch = lmanager.get_jdispatch() self.cur_data = [(0., 0., 0., 0., (0., 0., 0.), (0., 0., 0.))] self.data_pos = 0 - tq, trapq_name, datasel = name.split(':') + tq, trapq_name, datasel = name_parts ptypes = {} ptypes['velocity'] = { 'label': '%s velocity' % (trapq_name,), @@ -113,26 +114,27 @@ LogHandlers["trapq"] = HandleTrapQ # Extract positions from queue_step log class HandleStepQ: - ParametersSubscriptionId = 2 - ParametersMin = 2 - ParametersMax = 3 + SubscriptionIdParts = 2 + ParametersMin = 1 + ParametersMax = 2 DataSets = [ - ('stepq:<stepper>', 'Commanded position of the given stepper'), - ('stepq:<stepper>:raw', 'Commanded position without smoothing'), + ('stepq(<stepper>)', 'Commanded position of the given stepper'), + ('stepq(<stepper>,<time>)', 'Commanded position with smooth time'), ] - def __init__(self, lmanager, name): + def __init__(self, lmanager, name, name_parts): self.name = name + self.stepper_name = name_parts[1] self.jdispatch = lmanager.get_jdispatch() self.step_data = [(0., 0., 0.), (0., 0., 0.)] # [(time, half_pos, pos)] self.data_pos = 0 self.smooth_time = 0.010 - name_parts = name.split(':') if len(name_parts) == 3: - if name_parts[2] != 'raw': - raise error("Unknown stepq data selection '%s'" % (name,)) - self.smooth_time = 0. + try: + self.smooth_time = float(name_parts[2]) + except ValueError: + raise error("Invalid stepq smooth time '%s'" % (name_parts[2],)) def get_label(self): - label = '%s position' % (self.name.split(':')[1],) + label = '%s position' % (self.stepper_name,) return {'label': label, 'units': 'Position\n(mm)'} def pull_data(self, req_time): smooth_time = self.smooth_time @@ -205,17 +207,6 @@ LogHandlers["stepq"] = HandleStepQ ###################################################################### -# List datasets -###################################################################### - -def list_datasets(): - datasets = [] - for lh in sorted(LogHandlers.keys()): - datasets += LogHandlers[lh].DataSets - return datasets - - -###################################################################### # Log reading ###################################################################### @@ -279,6 +270,40 @@ class JsonDispatcher: for mq in self.queues.get(qid, []): mq.append(json_msg['params']) + +###################################################################### +# Dataset and log tracking +###################################################################### + +# Split a string by commas while keeping parenthesis intact +def param_split(line): + out = [] + level = prev = 0 + for i, c in enumerate(line): + if not level and c == ',': + out.append(line[prev:i]) + prev = i+1 + elif c == '(': + level += 1 + elif level and c== ')': + level -= 1 + out.append(line[prev:]) + return out + +# Split a dataset name (eg, "abc(def,ghi)") into parts +def name_split(name): + if '(' not in name or not name.endswith(')'): + raise error("Malformed dataset name '%s'" % (name,)) + aname, aparams = name.split('(', 1) + return [aname] + param_split(aparams[:-1]) + +# Return a description of possible datasets +def list_datasets(): + datasets = [] + for lh in sorted(LogHandlers.keys()): + datasets += LogHandlers[lh].DataSets + return datasets + # Main log access management class LogManager: error = error @@ -325,15 +350,16 @@ class LogManager: def setup_dataset(self, name): if name in self.datasets: return self.datasets[name] - parts = name.split(':') - cls = LogHandlers.get(parts[0]) + name_parts = name_split(name) + cls = LogHandlers.get(name_parts[0]) if cls is None: - raise error("Unknown dataset '%s'" % (parts[0],)) - if len(parts) < cls.ParametersMin or len(parts) > cls.ParametersMax: - raise error("Invalid number of parameters for %s" % (parts[0],)) - subscription_id = ":".join(parts[:cls.ParametersSubscriptionId]) + raise error("Unknown dataset '%s'" % (name_parts[0],)) + len_pp = len(name_parts) - 1 + if len_pp < cls.ParametersMin or len_pp > cls.ParametersMax: + raise error("Invalid number of parameters for '%s'" % (name,)) + subscription_id = ":".join(name_parts[:cls.SubscriptionIdParts]) if subscription_id not in self.log_subscriptions: raise error("Dataset '%s' not in capture" % (subscription_id,)) - self.datasets[name] = hdl = cls(self, name) + self.datasets[name] = hdl = cls(self, name, name_parts) self.jdispatch.add_handler(name, subscription_id) return hdl |